CN103415788B - Object detection device - Google Patents
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/78—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
- G01S3/782—Systems for determining direction or deviation from predetermined direction
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/78—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
- G01S3/782—Systems for determining direction or deviation from predetermined direction
- G01S3/783—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived from static detectors or detector systems
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- G06T7/10—Segmentation; Edge detection
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/174—Segmentation; Edge detection involving the use of two or more images
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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- G06T7/194—Segmentation; Edge detection involving foreground-background segmentation
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/103—Static body considered as a whole, e.g. static pedestrian or occupant recognition
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- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
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- G01V9/005—Prospecting or detecting by methods not provided for in groups G01V1/00 - G01V8/00 by thermal methods, e.g. after generation of heat by chemical reactions
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Abstract
Provided is an object detection device which responds to changes in the ambient temperature and thus is unlikely to generate a false detection. An object detection device (1) is provided with: an acquisition unit (11) for acquiring a thermal image from a sensor device (2); a storage unit (12) for storing a background image; a detection unit (13) for detecting an object (3) to be detected; and an update unit (15) for updating the background image. The object detection device (1) detects an object (3) to be detected by means of the detection unit (13) and by means of a background difference method which detects the difference between the background image and an acquired image which is the present thermal image. For no-detection regions, in which an object (3) to be detected has not been detected, the update unit (15) updates the background image on the basis of the most recent acquired image. For detection regions, in which an object (3) to be detected has been detected, the update unit (15) finds an adjustment value from a temperature variation which has been updated by means of a first background update process, and uses the adjustment value to update the background image.
Description
Technical field
The present invention relates to a kind of using thermal image (acquisition image) obtain the difference of current thermal image and background image Lai
The article detection device of detection object thing.
Background technology
In the past, there is provided a kind of thermal image from sensor device acquisition detection range simultaneously detects as right from thermal image
The article detection device of the thermals source such as the people as thing.As by the method for article detection device detection object it is known that following background
Calculus of finite differences：By pre-recorded for the thermal image that there is not the detection range in the moment of object in detection range for background image,
Detect the difference of the current thermal image and background image being got by sensor device.Background subtraction have computing simple,
Accuracy of detection also high such advantage under stable environment.
But, if the background image once obtaining in statu quo persistently is made using the article detection device of background subtraction
With then the temperature in the detection range not relying on object (hereinafter referred to as " ambient temperature ") is possible to when changing produce
Raw error detection is it is therefore desirable to be continuously updated background image.
Therefore, it is proposed to have the device (referring for example to patent documentation 1) of following function：Do not detecting from acquisition image
In the case of going out object to be detected, update background image using this acquisition image.In addition it is also proposed that having following function
Device (referring for example to patent documentation 2)：Obtain separating the moment of stipulated time from the moment that have updated previous background image
Take new image, the additive average value obtaining this acquisition image with current background image is to be updated to Background next time
Picture.But, in the device described in patent documentation 2, in the case of detecting object from acquisition image, do not execute and add
Method average treatment.
In addition, as from image identify human body device it is also proposed that there is the device of following function (referring for example to special
Sharp document 3)：Carry out the calculus of differences of background image and current acquisition image, and binaryzation is carried out with the threshold value of regulation, for
Pixel below threshold value changes background image with current image.In device described in patent documentation 3, it is also equipped with following work(
Energy：Even if pixel more than threshold value (that is, the pixel being detected by binaryzation) is present on current acquisition image, for
It is judged as it not being the pixel of human body, also background image is changed with current acquisition image.
Patent documentation 1：Japanese Unexamined Patent Application 62-240823 publication
Patent documentation 2：Japanese Unexamined Patent Publication 10-308939 publication
Patent documentation 3：Japanese Unexamined Patent Publication 5-118916 publication
But, in the structure described in patent documentation 1,2, the image detect object does not carry out background image
Renewal, therefore in detection range, the period of sustainable existence object does not carry out the renewal of background image, thus cannot tackle
The situation that ambient temperature changes, it is possible to produce error detection.
Even if in addition, for not examining in the image detecting object device described in as patent documentation 3
Measure object (people) region carry out the renewal of background image in the case of, the region due to detecting object is not carried on the back
The renewal of scape image, therefore also cannot response environment temperature change, it is possible to produce error detection.That is, for example in phase
Although the body temperature of people is also correspondingly declined with ambient temperature when in the state of the lasting someone in same position, ambient temperature declines, but
It is that the background image in region residing for people still keeps the high state of ambient temperature not to be updated.In this case, can sooner or later
The body temperature of people is led to be less than threshold value with the difference value of background image, it is nobody's (leakage that article detection device is possible to error detection
Report).On the contrary, when in the state of identical position continues someone, ambient temperature rises, the background image in the region residing for people
Remain below the state of the ambient temperature of reality, that is, make one to have left this region, article detection device is also possible to mistake inspection
Survey is in this region someone.
The present invention be in view of the above-mentioned origin of an incident and complete, its object is to provide a kind of by right with the change of ambient temperature
Answer and do not allow to be also easy to produce the article detection device of error detection.
Content of the invention
The article detection device of the present invention is characterised by possessing：Acquisition unit, it obtains the temperature representing in detection range
The acquisition information of distribution；Storage part, its storage represents above-mentioned detection range when there is not object in above-mentioned detection range
The background information of interior Temperature Distribution；Test section, it, to be examined with respect to the change of above-mentioned background information according to above-mentioned acquisition information
Survey and have or not object in above-mentioned detection range；And update section, it updates the above-mentioned back of the body being stored in above-mentioned storage part repeatedly
Scape information, wherein, above-mentioned background information is divided into the region comprising to be detected object by above-mentioned test section by above-mentioned update section
Detection zone and the no detection zone being made up of the region beyond this detection zone, for above-mentioned no detection zone, above-mentioned renewal
Portion executes and is processed according to the first context update of the above-mentioned background information of above-mentioned acquisition information updating, for above-mentioned detection zone, on
State update section execution to process using the second context update that corrected value updates above-mentioned background information, wherein, this corrected value is to be based on
Temperature produced by above-mentioned first context update process is passed through in the extraction region that at least a portion of above-mentioned no detection zone is constituted
Degree variable quantity is obtained.
In this article detection device it may be desirable to above-mentioned update section by above-mentioned no detection zone with above-mentioned detection zone
Above-mentioned correction, as said extracted region, is obtained based on the temperature variation in this extraction region in the adjacent a part of region in domain
Value.
In this article detection device it more desirable to be above-mentioned update section process institute according to by above-mentioned first context update
The extent of deviation of the temperature variation of above-mentioned no detection zone producing switches between first mode and second mode, its
In, in this first mode, using a part of region of the above-mentioned no detection zone of above-mentioned background information as said extracted region
And above-mentioned corrected value is obtained based on the temperature variation in this extraction region, in this second mode, above-mentioned background information is upper
The whole region stating no detection zone obtains above-mentioned school as said extracted region and based on the temperature variation in this extraction region
On the occasion of.
The effect of invention
In the present invention, for detection zone, update section execution is using based at least a portion structure by no detection zone
The corrected value that the temperature variation in the extraction region becoming is obtained is processed come the second context update to update background information, therefore passes through
Corresponding with the change of ambient temperature and do not allow to be also easy to produce error detection.
Brief description
The purpose of the present invention and feature become clear and definite by the explanation of following accompanying drawing and preferred embodiment.
Fig. 1 is the synoptic diagram of the structure representing the article detection device involved by embodiment 1.
Fig. 2 is the flow chart of the action representing the article detection device involved by embodiment 1.
Fig. 3 is the explanatory diagram of the action representing the article detection device involved by embodiment 1.
Fig. 4 is the explanatory diagram of the action representing the article detection device involved by embodiment 1.
Fig. 5 is the explanatory diagram of the action representing the article detection device involved by embodiment 1.
Fig. 6 is the explanatory diagram of the action of the article detection device involved by other structures representing embodiment 1.
Fig. 7 is the explanatory diagram of the action of the article detection device involved by other structures representing embodiment 1.
Fig. 8 is the explanatory diagram of the action of the article detection device involved by other structures representing embodiment 1.
Fig. 9 is the explanatory diagram of the action representing the article detection device involved by embodiment 2.
Specific embodiment
Below, with reference to the accompanying drawing of the part forming this specification, embodiments of the present invention are illustrated in greater detail.Institute
Have in accompanying drawing and be directed to same or similar partly additional same reference marker and omit the description.
As shown in figure 1, the article detection device 1 of present embodiment possesses：Acquisition unit 11, it obtains from sensor device 2
Information；Storage part 12, its storage information；Test section 13, it carries out the computing that background subtraction grades, and detects the presence of object 3；And
Output section 14, it exports testing result.Here, people is set to object 3, but it is not limited to people, as long as becoming the object of thermal source
Thing, the automobile for example travelling etc., the article detection device 1 of present embodiment just can be detected.
Sensor device 2 is with matrix by the sensor element such as such as thermopile element to infrared ray responsive (not shown)
Shape carries out two-dimensional arrangement and is formed, and constantly to export table using two-dimentional thermal image (acquisition image) as temperature distribution image
Show the information of the Temperature Distribution in detection range (sensing scope).Each sensor element is corresponding with each pixel of thermal image, below
The Celsius temperature in the region detected by each sensor element is said as the pixel value of each pixel corresponding in thermal image
Bright.Additionally, in the example in fig 1, article detection device 1 and sensor device 2 are mutually independent, but are not limited to this structure, also may be used
To be provided integrally with sensor device 2 in article detection device 1.
The article detection device 1 of present embodiment is made up of computer, executes regulated procedure, cause by making computer
The each function as acquisition unit 11, test section 13 and update section described later 15 realized by computer.Output section 14 includes monitoring dress
Put, printing equipment etc. has the device of the function of testing result of assuming test section 13 to user.
Article detection device 1 passes through acquisition unit 11 and obtains, from sensor device 2, the Temperature Distribution representing in detection range
Acquisition information (acquisition image), by test section 13 according to acquisition information with respect to the background information being stored in storage part 12
The change of (background image) has or not object 3 to detect in detection range.That is, article detection device 1 would indicate that in detection model
The thermal image that there is not the Temperature Distribution of the detection range in moment of object 3 in enclosing is previously recorded in storage as background image
In portion 12.This article detection device 1 termly obtains the Temperature Distribution of the detection range current as expression from sensor device 2
Thermal image acquisition image, obtain the background subtraction of the difference of image and background image by detection, come by test section
13 detection object things 3.
But, if the background image once obtaining in statu quo persistently is used, in the change due to the time period, refrigeration
Heat etc. and when the temperature (hereinafter referred to as " ambient temperature ") that do not rely in the detection range of object 3 changes, object
Detection means 1 is possible to produce error detection.
Therefore, the article detection device 1 of present embodiment possesses the background image that renewal is stored in storage part 12 repeatedly
Update section 15.Here, update section 15 is being carried out examining based on the contrast of acquisition image and background image by test section 13 every time
All update background image during the detection process surveying object 3, but be not limited to this structure, for example can also be by for often multiple
The cycle that detection process are once updated updates background image.In addition, the moment reaching certain and predetermining for example can also be worked as
When, update section 15 updates background image.
Below, the flow chart with reference to Fig. 2 updates the back of the body with the detection process of test section 13 detection object thing 3 and update section 15
The renewal of scape image illustrates the action of article detection device 1 centered on processing.In addition, Fig. 3～5 with the thermal image of 5 × 5 pixels are
Example carrys out the process exemplified with article detection device 1.Additionally, below with the coordinate position (x, y) of each pixel in image with timely
Carve the pixel value that t specifies each pixel in image.
Article detection device 1 first passes through acquisition unit 11 and obtains in the state of there is not object 3 from sensor device 2
The thermal image of output, each pixel value of this thermal image is prestored to storage as the initial value of background data Tb (x, y, t)
In portion 12 (S1).Background data Tb (x, y, t) is the pixel value of each pixel constituting background image Tb.
Article detection device 1 obtains current temperature profile data T (x, y, t) by acquisition unit 11 from sensor device 2,
And this temperature profile data T (x, y, t) is stored (S2) in storage part 12.Temperature profile data T (x, y, t) is to constitute to obtain
The pixel value of each pixel of image T.
Test section 13 calculates, as Fig. 3 illustration, background data Tb (x, y, t) and the temperature being stored in storage part 12
The difference of distributed data T (x, y, t) is used as differential data Td (x, y, t) (S3).That is, representing differential data with formula 1
Td(x,y,t).Differential data Td (x, y, t) is the pixel value of each pixel constituting difference image Td.Test section 13 presses each picture
Element is for the computing represented by all pixels progressive form 1 obtaining image T.
[formula 1]
Td (x, y, t)=T (x, y, t)-Td (x, y, t)
It is then detected that portion 13 carries out binaryzation (S4) using the threshold value of regulation to differential data Td (x, y, t).Now, examine
Survey portion 13 carries out binaryzation to generate detection image I as Fig. 3 illustration as follows：By difference value for threshold value more than
Pixel as " detection pixel " (S5) detecting object 3, difference value is less than the pixel of threshold value as not detecting object
" no detecting pixel " (S6) of thing 3.In the example of Fig. 3～5, oblique line portion represent by detection pixel set constitute region,
I.e. as detection zone D1 in the region detecting object 3, region representation in addition is by the set structure of no detection zone
The region of one-tenth, i.e. no detection zone D0 as the region not detecting object 3.Constitute the picture of each pixel of detection image I
Plain value I (x, y, t) is represented using threshold value C formula 2.
[formula 2]
That is, the pixel (x, y) of I (x, y, t)=1 is detection pixel, the pixel (x, y) of I (x, y, t)=0 is no to examine
Survey pixel.Detection image I exports from output section 14 as the testing result of test section 13.C=2 in the present embodiment.
Then, article detection device 1 is carried out for the no detection being made up of the set no detecting pixel by update section 15
The first context update that region D0 updates background data Tb (x, y, t) processes (S7).Update section 15 is for no detection zone D0
All pixels, according to up-to-date temperature profile data T (x, y, t) correction be stored in background data Tb in storage part 12 (x, y,
T), thus carry out the first context update process.Specifically, update section 15 calculates as Fig. 4 illustration and is stored in storage part
Weighted average (the weighted of the background data Tb (x, y, t) in 12 and current temperature profile data T (x, y, t)
Average) value, to carry out the first context update process.That is, no detection zone D0 new background data TbD0 (x,
Y, t+1) represented using average weighted parameter alpha formula 3.In the example in fig. 4, setting parameter α=0.1.Update section 15 presses each picture
Element is for the computing represented by all pixels progressive form 3 of no detection zone D0.
[formula 3]
TbD0 (x, y, t+1)=(1- α) TbD0 (X, y, t)+α TD0 (x, y, t)
Here, TbD0 (x, y, t) is the background data of no detection zone D0, TD0 (x, y, t) be no detection zone D0 work as
Front temperature profile data.
Update section 15 is using the new background data TbD0 of no detection zone D0 being obtained by the first context update process
(x, y, t+1), obtains corrected value used in the second context update described later is processed.Corrected value is based in background image Tb
At least a portion by no detection zone D0 constitute extract region in by first context update process renewal after temperature
Variable quantity obtain.In the present embodiment, using the whole region of no detection zone D0 as extraction region.Here, updating
Portion 15 is obtained by all pixels that each pixel is directed to no detection zone D0 as (a) of Fig. 5 illustrates first and is represented with formula 4
Updated value Δ TbD0 (x, y, t) (S8).Updated value Δ TbD0 (x, y, t) is to represent in background image Tb to pass through the first background more
The value of the variable quantity of pixel value in new no detection zone D0 processing after updating.
[formula 4]
ATbD0 (x, y, t) two TbD0 (x, y, t+1)-TbD0 (x, y, t)
Here, TbD0 (x, y, t) is the previous background data of no detection zone D0.
Then, update section 15 is obtained as the updated value Δ TbD0 in all pixels of no detection zone D0 extracting region
The representative value of (x, y, t) is used as corrected value (S9).In the present embodiment, using as corrected value updated value Δ TbD0 (x,
Y, t) representative value be set to the average value Δ Tav that represented with formula 5.But, representative value is not limited to meansigma methodss or central authorities
Value, mode etc..Additionally, in formula 5, the prime number (pixel count) of wanting belonging to no detection zone D0 is expressed as | D0 |.
[formula 5]
In the example of fig. 5, in no detection zone D0 being made up of 19 pixels, updated value Δ TbD0 (x, y, t)=
0.1 pixel has 12, and therefore average value Δ Tav is 1.2/19 0.06.
Then, article detection device 1 is carried out for the detection zone being made up of the set of detection pixel by update section 15
The second context update that D1 updates background data TbD1 (x, y, t) processes (S10).Update section 15 is directed to all of detection zone D1
Pixel, is stored in detection zone D1 in storage part 12 using corrected value (average value Δ Tav) correction obtained by processing S9
Background data Tb (x, y, t) (below for TbD1 (x, y, t)), thus carry out the second context update process.Specifically, update
Portion 15 will be stored in current background data TbD1 (x, y, t) and corrected value in storage part 12 as (b) of Fig. 5 illustrates
It is added, to carry out the second context update process.That is, with formula 6 represent detection zone D1 new background data TbD1 (x,
y,t+1).Computing as represented by all pixels progressive form 6 that each pixel is directed to detection zone D1 for the update section 15.
[formula 6]
TbD1(x,y,t+1)=TbD1(x,y,t)+ΔTav
In a word, update section 15 is directed to no detection zone D0 in background data Tb (x, y, t), the first background of progressive form 3
Renewal is processed, and the second context update for detection zone D1 progressive form 6 is processed.Update section 15 is using new by so obtain
Background data Tb (x, y, t+1) change the background image Tb in storage part 12 at any time.As a result, storing pin in storage part 12
By value, the new background number of gained is updated to all pixels all pixels of detection zone D0 and this two side of detection zone D1 (no)
It is used as background image Tb according to Tb (x, y, t+1).If additionally, there is not object 3 in the detection range of sensor device 2,
Then difference image Td does not comprise detection zone D1, and whole region is no detection zone D0, therefore only passes through at the first context update
Reason updates the whole region of background image Tb.
Afterwards, article detection device 1 returns to the process of S2, using update after background image Tb repeat S2～
The process of S10.
The article detection device 1 of present embodiment from the description above, even if be continuously present in same position in object 3
In the case that the period ambient temperature put there occurs change, update section 15 also can be for the detection zone detecting object 3
D1, follows the change of ambient temperature to update background image Tb.Thus, even if same long lasting for being present in object 3
In the case of position, also accordingly correctly update background image Tb with the change of ambient temperature, article detection device 1 passes through to make
With the background image Tb after renewal, the detection process of the object 3 after can correctly carrying out.
In a word, update section 15, not only for no detection zone D0 not detecting object 3, is also directed to detect object
3 detection zone D1 updates background image Tb, and the whole region therefore, it is possible to make background image Tb corresponds to the change of ambient temperature
Change.Even if for example in the state of identical position continues someone, ambient temperature declines, the background image Tb in the region of someone
Also correspondingly it is updated with the change of ambient temperature, therefore article detection device 1 is it can be avoided that error detection is nobody's (leakage
Report).In addition, when in the state of identical position continues someone, ambient temperature rises, article detection device 1 is it can be avoided that in people
When leaving this region, error detection is in this region someone.
As a result, the article detection device 1 of present embodiment and the renewal not carrying out detection zone D1 in background image Tb
Structure compare, have the advantages that by corresponding and do not allow to be also easy to produce error detection with the change of ambient temperature.
In addition, in the above-described embodiment, detection zone D1 is the pixel (detection pixel) that differential data is more than threshold value
Set itself, but be not limited to this example it may be desirable to suitably expand detection zone D1.That is, detection zone D1 is only
To be not limited to detect the region basis of object 3 including at least the region entirety being detected object 3 by test section 13
Body.Similarly, no detection zone D0 is the region beyond detection zone D1, is not limited to not detect the region of object 3 itself.
That is, no detection zone D0 might be less that the region not detecting object 3.By expanding detection zone D1, can
Overcome following problem.
That is, in poor situation of the pixel resolution of sensor device 2 etc., there is following situation：For in same pixel
The pixel being mixed with the part that there is object 3 and there is not the part of object 3, the relatively low pixel value after output equalization
(temperature), differential data is not for more than threshold value being included in no in detection zone D0.Physical presence object 3 in this pixel,
Thus while pixel value is less than threshold value, but it is above original ambient temperature.Thus, according to the object detection of above-mentioned embodiment
Device 1, background data is updated the temperature that portion 15 is updated to higher than original ambient temperature, thus becoming the former of error detection
Cause.
On the other hand, in the case of expanding detection zone D1, in same pixel, it is mixed with the part that there is object 3
The pixel that there is not the part of object 3 is also contained in detection zone D1, therefore, it is possible to avoid the pixel by this pixel
Value updates background data.Thus, it is possible to avoid background data to be updated portion 15 be updated to the temperature higher than original ambient temperature.
The expansion of detection zone D1 is processed and is specifically directed in detection image I being generated by above-mentioned process S4～S6
Pixel value I (x, y, t)=1 the expansion process (Dilation) that carries out of pixel.Thus, detection zone D1 of difference image Td
It is not only the set of the pixel (detection pixel) that differential data Td (x, y, t) is more than threshold value as Fig. 6 illustrates, also expand
Arrive greatly its periphery.Expansion process said here, as being common method for image processing techniquess, is by identical for value and phase
The boundary line of the block of pixels connecting expands the process of a pixel laterally.By carrying out this expansion process, can will be same
It is mixed with the part that there is object 3 in pixel and there is not the pixel of the part of object 3 and be included in detection zone D1.
Article detection device 1, will as Fig. 7 and Fig. 8 illustrates after the expansion carrying out detection zone D1 is processed
Region beyond detection zone D1 as no detection zone D0 execution first context update process and second context update process (on
State process S7～S10).Additionally, in the example of Fig. 6～8, oblique line portion represents detection zone D1, region representation in addition
No detection zone D0.
(embodiment 2)
The article detection device 1 of present embodiment is obtaining the extraction using during the corrected value that the second context update is processed
The setting in region is different from the article detection device 1 of embodiment 1.Below, for phase additional with embodiment 1 identical structure
Same reference simultaneously suitably omits the description.
In the article detection device 1 of embodiment 1, using the whole region of no detection zone D0 as extracting region, more
The representative value of updated value Δ TbD0 (x, y, t) of all pixels of no detection zone D0 is set at the second context update in new portion 15
The corrected value of reason.Therefore, the detection range in sensor device 2 is big and change of ambient temperature in detection range exists partially
In the case of difference, it is possible to create following problem.Thermal source beyond object 3 as such as stove is present in away from object
In the case of the position of thing (people) 3, the temperature meeting of sometimes unrelated with detection zone D1 original ambient temperature thermal source periphery
Affect the corrected value that the second context update is processed.Thus, the background data of detection zone D1 is updated to than original sometimes
The high temperature of ambient temperature.
On the other hand, in the present embodiment, update section 15 only will be adjacent with detection zone D1 in no detection zone D0
The a part of region connecing is as extraction region.That is, update section 15 calculate adjacent with detection zone D1 in no detection zone D0
Neighboring pixel in updated value Δ Tb (x, y, t) representative value (such as average value Δ Tav) as corrected value, using this correction
Value carries out the second context update process.Specifically, update section 15 is directed to the expansion of detection image I execution n time (n=1,2 ...)
Process, using the differential area of the region after expanding and detection zone D1 before expansion as extracting region, only will extract in region
Pixel as object, obtain the representative value (corrected value) of updated value Δ Tb (x, y, t).Here, n is to determine to extract the wide of region
The parameter of degree (width), as long as correspondingly carry out setting with the detection range of sensor device 2 and pixel resolution.
The article detection device 1 of present embodiment from the description above, due to only by no detection zone D0 with inspection
Survey the adjacent a part of region of region D1 as extracting region, therefore, even if the change of ambient temperature in detection range is deposited
It is also possible to calculate the corrected value that suitable value is processed as the second context update in the case of deviation.That is, passing through
The second context update using corrected value is processed, and is updated using the change of the ambient temperature near object 3 and detects object
The background data of detection zone D1 of thing 3, therefore this background data are corrected as more accurately being worth.Thus, even if in detection model
Enclose interior ambient temperature change there is deviation in the case of it is also possible to avoid detection zone D1 in the second context update is processed
Background data be updated to the temperature higher than original ambient temperature.This structure is big for the detection range of sensor device 2
The situation that the change of the ambient temperature in detection range such as situation easily produces deviation is particularly useful.
In addition, in the case of the block that there are multiple interconnective detection pixels as Fig. 9 illustration, update section 15
Detection image Im (m=1,2 ...) only existing each piece can also be generated by each block is interim, for each detection image Im individually
Set and extract region.That is, update section 15 generates corresponding detection image Im of quantity with the block of detection pixel, for each
Detection image Im is executed separately n (being twice in Fig. 9) expansion process, by the region after expanding and the detection zone before expansion
The differential area of D11, D12 is as extraction region D13, D14.Additionally, in fig .9, with the direction of oblique line to as detection pixel
Detection zone D11, D12 of block and as corrected value calculating object extraction region D13, D14 be distinguish between.
In this case, update section 15 is directed to and extracts region D13, D14 calculating corrected value, is updated each using each corrected value
The background data of detection zone D11, D12.I.e., in the example of figure 9, calculated based on the extraction region D13 of detection image I1
Corrected value be used for detection image I1 detection zone D11 background data update, the extraction region D14 based on detection image I2
The background data that the corrected value calculating is used for detection zone D12 of detection image I2 updates.
Additionally, in the present embodiment, as the determining method extracting region, simply employ in image processing techniquess
Expansion process, but the configuration according to sensor device 2, be possible in real space with the detection adjacent pixel of pixel
Not near object 3.It is the situation of such configuration, for example sensor filled in the configuration being known a priori by sensor device 2
Put 2 configure obliquely downward in the case of, update section 15 can also be only using the connecing as object 3 and ground in detection pixel
The neighboring pixel in the foot region of contact is as extraction region.
Other structures and function are identical with embodiment 1.
(embodiment 3)
The article detection device 1 of present embodiment is obtaining the extraction using during the corrected value that the second context update is processed
The setting in region is different from the article detection device 1 of embodiment 2.Below, for phase additional with embodiment 2 identical structure
Same reference simultaneously suitably omits the description.
In the present embodiment, update section 15 can be only will be adjacent with detection zone D1 in no detection zone D0
A part of region as extract region first mode and using the whole region of no detection zone D0 as extract region second
Switch between this two action patterns of pattern.Update section 15 is no detected according to produced by processed by the first context update
The extent of deviation of the temperature variation of region D0, switches between these first mode and second modes.
Specifically, update section 15 judges updated value Δ TbD0 (x, y, t) calculating with the first context update process
Value be directed to no detection zone D0 all pixels whether generally uniform, if it is determined that uneven, then enter in the flrst mode
Action is made, if it is determined that uniformly, then carries out action under the second mode.Here, update section 15 for example will no detection zone D0
In the difference value of maxima and minima of updated value Δ TbD0 (x, y, t) and regulation threshold value be compared, if difference
Value is less than threshold value, then generally uniform, more than threshold value, is then judged as uneven.It is not limited to this structure, update section 15 is for example
The standard deviation of updated value Δ TbD0 (x, y, t) can also be obtained, whether be in the range of the threshold value of regulation according to this value, come
Judge whether generally uniform.
The article detection device 1 of present embodiment from the description above, because the temperature according to no detection zone D0 becomes
The extent of deviation of change amount changes the extraction region of the calculating object as corrected value, and therefore update section 15 can be by optimal side
Method calculates corrected value.
That is, using a part of region adjacent with detection zone D1 as extract region first mode in detection range
The change of ambient temperature is effective in the case of there is deviation, it is possible that producing because as the pixel count calculating object
Reduce and cause the deviation of corrected value, along with expansion process computational load increase.On the other hand, will no detection zone
Although the change that the whole region of D0 is unsuitable for ambient temperature in detection range as the second mode extracting region exists partially
The situation of difference, but there is deviation, the companion that will not produce the corrected value causing because of the minimizing as the pixel count calculating object
Advantage with the increase of the computational load of expansion process.The update section 15 of present embodiment is according to the temperature in no detection zone D0
The extent of deviation of degree variable quantity switches between these first mode and second modes, therefore can pass through optimal all the time
Method calculates corrected value.
Additionally, update section 14 be set in the first mode to extract region region be not limited in no detection zone D0 with inspection
Survey the adjacent a part of region of region D1, as long as a part of region of no detection zone D0.
Other structures are identical with embodiment 2 with function.
It is explained above the preferred embodiment of the present invention, but the invention is not restricted to these specific embodiments, energy
Enough carry out the various changes without departing from claim categories and deformation, it falls within scope of the invention.
Claims (3)
1. a kind of article detection device is it is characterised in that possess：
Acquisition unit, it obtains the acquisition information representing the Temperature Distribution in detection range；
Test section, it with respect to the change of background information, to detect and to have or not in above-mentioned detection range according to above-mentioned acquisition information
Object, this background information represents that the temperature in the above-mentioned detection range when there is not object in above-mentioned detection range is divided
Cloth, and be stored in storage part；And
Update section, it updates the above-mentioned background information being stored in above-mentioned storage part repeatedly,
Wherein, above-mentioned background information is divided into the detection comprising the region being detected object by above-mentioned test section by above-mentioned update section
Region and the no detection zone being made up of the region beyond this detection zone,
For above-mentioned no detection zone, above-mentioned update section execution is according to first back of the body of the above-mentioned background information of above-mentioned acquisition information updating
Scape renewal is processed, and for above-mentioned detection zone, above-mentioned update section execution updates second back of the body of above-mentioned background information using corrected value
Scape renewal is processed, and wherein, this corrected value is to pass through based on by the extraction region that at least a portion of above-mentioned no detection zone is constituted
Temperature variation produced by above-mentioned first context update process is obtained.
2. article detection device according to claim 1 it is characterised in that
The a part of region adjacent with above-mentioned detection zone in above-mentioned no detection zone is carried by above-mentioned update section as above-mentioned
Take region, above-mentioned corrected value is obtained based on the temperature variation in this extraction region.
3. article detection device according to claim 1 and 2 it is characterised in that
The temperature variation of above-mentioned update section above-mentioned no detection zone according to produced by processed by above-mentioned first context update
Extent of deviation switch between first mode and second mode, wherein, in this first mode, by above-mentioned background information
A part of region of above-mentioned no detection zone obtain as said extracted region and based on the temperature variation in this extraction region
Above-mentioned corrected value, in this second mode, the whole region of the above-mentioned no detection zone of above-mentioned background information is carried as above-mentioned
Take region and above-mentioned corrected value is obtained based on the temperature variation in this extraction region.
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| JP2011059699A JP5799219B2 (en) | 2011-03-17 | 2011-03-17 | Object detection device |
| PCT/IB2012/000476 WO2012123808A1 (en) | 2011-03-17 | 2012-03-14 | Object detection device |
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| CN103575323B (en) * | 2012-07-30 | 2016-03-30 | 日电（中国）有限公司 | Take detection method and device |
| CN109974244B (en) * | 2014-02-17 | 2021-01-26 | 松下电器产业株式会社 | Control method for air conditioner |
| JP6376804B2 (en) * | 2014-04-01 | 2018-08-22 | キヤノン株式会社 | Image forming apparatus, image forming apparatus control method, and program |
| JP2015216482A (en) * | 2014-05-09 | 2015-12-03 | キヤノン株式会社 | Imaging control method and imaging apparatus |
| JP6415178B2 (en) | 2014-08-19 | 2018-10-31 | キヤノン株式会社 | Printing apparatus and data updating method |
| JP6374757B2 (en) * | 2014-10-21 | 2018-08-15 | アズビル株式会社 | Human detection system and method |
| TWI554747B (en) * | 2014-12-04 | 2016-10-21 | 台達電子工業股份有限公司 | Human detection system and human detection method |
| CN105423494B (en) * | 2015-12-11 | 2018-05-01 | 四川长虹电器股份有限公司 | A kind of bearing calibration and air-conditioning equipment |
| CN107233082B (en) * | 2016-03-29 | 2020-04-21 | 广州斯摩莱信息科技有限公司 | Infrared thermal imaging detection system |
| JP6654091B2 (en) * | 2016-04-19 | 2020-02-26 | アズビル株式会社 | Monitoring device, monitoring method, and program |
| JP7228767B2 (en) * | 2018-05-16 | 2023-02-27 | パナソニックＩｐマネジメント株式会社 | SENSOR SYSTEM, AIR CONDITIONING SYSTEM, OBJECT DETECTION METHOD AND PROGRAM |
| KR20190138325A (en) * | 2018-06-05 | 2019-12-13 | 휴렛-팩커드 디벨롭먼트 컴퍼니, 엘.피. | Image forming apparatus to detect user and method for controlling thereof |
| US11162015B2 (en) | 2020-02-14 | 2021-11-02 | Halliburton Energy Services, Inc. | Geopolymer formulations for mitigating losses |
| US11332654B2 (en) | 2020-02-14 | 2022-05-17 | Halliburton Energy Services, Inc. | Well bore spacer and efficiency fluids comprising geopolymers |
| US11242479B2 (en) * | 2020-02-14 | 2022-02-08 | Halliburton Energy Services, Inc. | Geopolymer cement for use in subterranean operations |
| JP7418652B2 (en) * | 2021-02-19 | 2024-01-19 | 三菱電機株式会社 | Human detection device, electrical equipment, human detection method, and human detection system |
| CN113743222A (en) * | 2021-08-04 | 2021-12-03 | 北京澎思科技有限公司 | Body temperature measuring method and device, electronic equipment and readable storage medium |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2012123808A1 (en) | 2012-09-20 |
| US9189685B2 (en) | 2015-11-17 |
| JP5799219B2 (en) | 2015-10-21 |
| CN103415788A (en) | 2013-11-27 |
| EP2672294A1 (en) | 2013-12-11 |
| US20130329959A1 (en) | 2013-12-12 |
| JP2012194121A (en) | 2012-10-11 |
| KR20140007402A (en) | 2014-01-17 |
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